Creation of the High Quality Real 3D Image Representation from the Observe Defective Data.

某些类型的激光测距扫描仪可以同时测量距离和颜色数据，并且经常用于获取户外场景的3D结构。然而，不幸的是，激光测距扫描仪不能给我们完美的距离信息的目标对象，如建筑物，和各种因素导致的距离数据的严重缺陷。我们提出了一种基于区域分割的缺陷检测方案，使用观察到的距离和颜色图像数据，并应用非线性时间演化方法修复的距离数据的缺陷区域。在缺陷检测方面，对观测数据进行距离和颜色分割，将观测数据划分为与建筑物、天空、地面等相对应的区域，利用分割结果确定缺陷区域。给定缺陷区域，其范围数据将从其邻域中的观测数据中修复。为此，我们将Bertalmio等人提出的基于传输的灰度图像修复算法改进为基于距离数据的缺陷修复算法，构造了一种新的缺陷修复方法，该方法将基于传输的修复和数据投影到距离数据的每个采样点的原始观察方向上，从观测范围数据转换为3D点数据。使用人工损坏的测试距离数据和实际观测距离数据的性能评估表明，我们的修复方法优于现有的修复方法在定量性能和主观修复质量。

Some types of laser range scanner can measure range and color data simultaneously, and are often used to acquire 3D structure of outdoor scenery. However, unfortunately a laser range scanner cannot give us perfect range information about target objects such as buildings, and various factors incur critical defects of range data. We present a defect detection scheme based on the region segmentation using observed range-and-color image data, and apply a nonlinear time-evolution method to the repair of defect regions of range data. As to the defect detection, performing the range-andcolor segmentation, we divide observed data into several regions corresponding to buildings, the sky, the ground and so on. Using the segmentation results, we determine defect regions. Given defect regions, their range data will be repaired from observed data in their neighborhoods. For that purpose, reforming the transportation-based inpainting algorithm, previously developed for the defect repair of an intensity image by Bertalmio and others, for the defect repair of range data, we construct a new defect-repair method that applies the interleaved sequential updates, composed of the transportationbased inpainting and the data projection onto the original viewing direction of each sampling point of range data, to 3D point data converted from observed range data. The performance evaluations using artificially damaged test range data and really observed range data demonstrate that our repair method outperforms the existing repair methods both in quantitative performance and in subjective repair quality.